Self-play Multi-agent self-play has been used both to achieve super-human performance on predefined games [1]}, [2]}, [3]}, [4]} as well as a tool to explore novel skills in a single environment or fixed distribution of environments [5]}, [6]}, [7]}, [8]}, [9]}. In asymmetric self-play [10]}, [11]}, [12]}, [13]}, goal-setting and goal-following agents compete to improve generalization among single-agent tasks.
